'''
An example showing nearest point queries, 
primitive volume sampling, oriented bounding boxes, 
and using PointCloud objects for visualization
'''
import trimesh 
import numpy as np

# load a large- ish PLY model with colors    
mesh = trimesh.load('../models/cycloidal.ply')   

# we can sample the volume of Box primitives
points = mesh.bounding_box_oriented.sample_volume(count=10)

# find the closest point on the mesh to each random point
(closest_points,
 distances,
 triangle_id) = mesh.nearest.on_surface(points)
print('Distance from point to surface of mesh:\n{}'.format(distances))

Distance from point to surface of mesh:
[5.40262339e-02 2.09405113e-02 1.92050122e-02 7.65333134e-02
 5.80627171e-03 8.11376603e-02 2.25585878e-03 2.54014480e-01
 1.79709416e-04 1.24942908e-01]

# create a PointCloud object out of each (n,3) list of points
cloud_original = trimesh.points.PointCloud(points)
cloud_close    = trimesh.points.PointCloud(closest_points)

# create a unique color for each point
cloud_colors = np.array([trimesh.visual.random_color() for i in points])

# set the colors on the random point and its nearest point to be the same
cloud_original.vertices_color = cloud_colors
cloud_close.vertices_color    = cloud_colors

# create a scene containing the mesh and two sets of points
scene = trimesh.Scene([mesh,
                       cloud_original,
                       cloud_close])

# show the scene wusing 
scene.show()